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Description
This paper describes the design and the development process of a mobile robot with differential locomotion called CANOE. The main objective of this robot is automated transport in controlled industrial environments, and it is equipped with advanced technologies for navigation and maneuverability.
The robot uses a PID (proportional-integral-derivative) controller to travel a specific route according to eliminate errors detected by the control system. The PID controller is an extremely important component of the control loop and especially in automated systems, having the ability to adjust the action of the motors according to the desired values compared to those measured.
The CANOE architecture includes two powerful brushless motors of 250W each, an advanced suspension system to navigate over minor obstacles, and an efficient propulsion system. The robot is equipped with LiDAR for navigation and obstacle detection and uses a mini-PC with ROS (Robot Operating System) for data processing and control as it travels the route. Furthermore, a Battery Management System (BMS) ensures optimal operation of the robot's battery cells.
Finally, it can be said that the paper highlights significant advances in the development of automated control systems, demonstrating practical applicability and innovation in mechatronic systems engineering by integrating advanced technologies into a functional mobile system. It also highlights the technical complexity and design challenges that come with creating such automated systems.
